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The extra slash is not likely to be a problem. The OS can handle that.

A more likely issue is that the libchomp_planner_plugin.so depends on something you have not installed. The first step in checking this is to run the following command in a terminal which has the ROS environment variables set:

ldd /opt/ros/noetic/lib/libchomp_planner_plugin.so

This will list all the sub-libraries that the named .so file depends on. If any line says "not found", you have to fix that. Here's an example of a failure:

    libmoveit_collision_detection.so.1.0.8 => not found